OpenRaiser/Intern-Atlas huggingface dataset:
More Dominantly Truthful Multi-task Peer Prediction with a Finite Number of Tasks
Venue: arXiv cs.GT 2021
Year: 2021

In the setting where we ask participants multiple similar possibly subjective multi-choice questions (e.g. Do you like Bulbasaur? Y/N; do you like Squirtle? Y/N), peer prediction aims to design mechanisms that encourage honest feedback without verification. A series of works have successfully designed multi-task peer prediction mechanisms where reporting truthfully is better than any other strategy (dominantly truthful), while they require an infinite number of tasks. A recent work proposes the first multi-task peer prediction mechanism, Determinant Mutual Information (DMI)-Mechanism, where not only is dominantly truthful but also works for a finite number of tasks (practical). However, the existence of other practical dominantly-truthful multi-task peer prediction mechanisms remains to be an open question. This work answers the above question by providing 1. a new family of information-monotone information measures: volume mutual information (VMI), where DMI is a special case; 2. a new family of practical dominantly-truthful multi-task peer prediction mechanisms, VMI-Mechanisms. To illustrate the importance of VMI-Mechanisms, we also provide a tractable effort incentive optimization goal. We show that DMI-Mechanism may not be not optimal but we can construct a sequence of VMI-Mechanisms that are approximately optimal. The main technical highlight in this paper is a novel geometric information measure, Volume Mutual Information, that is based on a simple idea: we can measure an object A's information amount by the number of objects that is less informative than A. Different densities over the object lead to different information measures. This also gives Determinant Mutual Information a simple geometric interpretation.
LiDAR-based Recurrent 3D Semantic Segmentation with Temporal Memory Alignment
Venue: arXiv cs.CV 2021
Year: 2021

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many real-world applications, point clouds are generated by lidar sensors in a consecutive fashion. Working with a time series instead of single and independent frames enables the exploitation of temporal information. We therefore propose a recurrent segmentation architecture (RNN), which takes a single range image frame as input and exploits recursively aggregated temporal information. An alignment strategy, which we call Temporal Memory Alignment, uses ego motion to temporally align the memory between consecutive frames in feature space. A Residual Network and ConvGRU are investigated for the memory update. We demonstrate the benefits of the presented approach on two large-scale datasets and compare it to several stateof-the-art methods. Our approach ranks first on the SemanticKITTI multiple scan benchmark and achieves state-of-the-art performance on the single scan benchmark. In addition, the evaluation shows that the exploitation of temporal information significantly improves segmentation results compared to a single frame approach.
Motion Classification and Height Estimation of Pedestrians Using Sparse Radar Data
Venue: arXiv cs.CV 2021
Year: 2021

A complete overview of the surrounding vehicle environment is important for driver assistance systems and highly autonomous driving. Fusing results of multiple sensor types like camera, radar and lidar is crucial for increasing the robustness. The detection and classification of objects like cars, bicycles or pedestrians has been analyzed in the past for many sensor types. Beyond that, it is also helpful to refine these classes and distinguish for example between different pedestrian types or activities. This task is usually performed on camera data, though recent developments are based on radar spectrograms. However, for most automotive radar systems, it is only possible to obtain radar targets instead of the original spectrograms. This work demonstrates that it is possible to estimate the body height of walking pedestrians using 2D radar targets. Furthermore, different pedestrian motion types are classified.
Domain and View-point Agnostic Hand Action Recognition
Venue: arXiv cs.CV 2021
Year: 2021

Hand action recognition is a special case of action recognition with applications in human-robot interaction, virtual reality or life-logging systems. Building action classifiers able to work for such heterogeneous action domains is very challenging. There are very subtle changes across different actions from a given application but also large variations across domains (e.g. virtual reality vs life-logging). This work introduces a novel skeleton-based hand motion representation model that tackles this problem. The framework we propose is agnostic to the application domain or camera recording view-point. When working on a single domain (intra-domain action classification) our approach performs better or similar to current state-of-the-art methods on well-known hand action recognition benchmarks. And, more importantly, when performing hand action recognition for action domains and camera perspectives which our approach has not been trained for (cross-domain action classification), our proposed framework achieves comparable performance to intra-domain state-of-the-art methods. These experiments show the robustness and generalization capabilities of our framework.
Deep Learning for Virus-Spreading Forecasting: a Brief Survey
Venue: arXiv cs.LG 2021
Year: 2021

The advent of the coronavirus pandemic has sparked the interest in predictive models capable of forecasting virus-spreading, especially for boosting and supporting decision-making processes. In this paper, we will outline the main Deep Learning approaches aimed at predicting the spreading of a disease in space and time. The aim is to show the emerging trends in this area of research and provide a general perspective on the possible strategies to approach this problem. In doing so, we will mainly focus on two macro-categories: classical Deep Learning approaches and Hybrid models. Finally, we will discuss the main advantages and disadvantages of different models, and underline the most promising development directions to improve these approaches.
Terahertz-Band MIMO-NOMA: Adaptive Superposition Coding and Subspace Detection
Venue: arXiv cs.IT 2021
Year: 2021

We consider the problem of efficient ultra-massive multiple-input multiple-output (UM-MIMO) data detection in terahertz (THz)-band non-orthogonal multiple access (NOMA) systems. We argue that the most common THz NOMA configuration is power-domain superposition coding over quasi-optical doubly-massive MIMO channels. We propose spatial tuning techniques that modify antenna subarray arrangements to enhance channel conditions. Towards recovering the superposed data at the receiver side, we propose a family of data detectors based on low-complexity channel matrix puncturing, in which higher-order detectors are dynamically formed from lower-order component detectors. We first detail the proposed solutions for the case of superposition coding of multiple streams in point-to-point THz MIMO links. We then extend the study to multi-user NOMA, in which randomly distributed users get grouped into narrow cell sectors and are allocated different power levels depending on their proximity to the base station. We show that successive interference cancellation is carried with minimal performance and complexity costs under spatial tuning. We derive approximate bit error rate (BER) equations, and we propose an architectural design to illustrate complexity reductions. Under typical THz conditions, channel puncturing introduces more than an order of magnitude reduction in BER at high signal-to-noise ratios while reducing complexity by approximately 90%.
Evaluating Robustness of Counterfactual Explanations
Venue: arXiv cs.LG 2021
Year: 2021

Transparency is a fundamental requirement for decision making systems when these should be deployed in the real world. It is usually achieved by providing explanations of the system's behavior. A prominent and intuitive type of explanations are counterfactual explanations. Counterfactual explanations explain a behavior to the user by proposing actions -- as changes to the input -- that would cause a different (specified) behavior of the system. However, such explanation methods can be unstable with respect to small changes to the input -- i.e. even a small change in the input can lead to huge or arbitrary changes in the output and of the explanation. This could be problematic for counterfactual explanations, as two similar individuals might get very different explanations. Even worse, if the recommended actions differ considerably in their complexity, one would consider such unstable (counterfactual) explanations as individually unfair. In this work, we formally and empirically study the robustness of counterfactual explanations in general, as well as under different models and different kinds of perturbations. Furthermore, we propose that plausible counterfactual explanations can be used instead of closest counterfactual explanations to improve the robustness and consequently the individual fairness of counterfactual explanations.
Cost Optimal Planning as Satisfiability
Venue: arXiv cs.AI 2021
Year: 2021

We investigate upper bounds on the length of cost optimal plans that are valid for problems with 0-cost actions. We employ these upper bounds as horizons for a SAT-based encoding of planning with costs. Given an initial upper bound on the cost of the optimal plan, we experimentally show that this SAT-based approach is able to compute plans with better costs, and in many cases it can match the optimal cost. Also, in multiple instances, the approach is successful in proving that a certain cost is the optimal plan cost.
Continuous Speech Separation with Ad Hoc Microphone Arrays
Venue: arXiv cs.SD 2021
Year: 2021

Speech separation has been shown effective for multi-talker speech recognition. Under the ad hoc microphone array setup where the array consists of spatially distributed asynchronous microphones, additional challenges must be overcome as the geometry and number of microphones are unknown beforehand. Prior studies show, with a spatial-temporalinterleaving structure, neural networks can efficiently utilize the multi-channel signals of the ad hoc array. In this paper, we further extend this approach to continuous speech separation. Several techniques are introduced to enable speech separation for real continuous recordings. First, we apply a transformer-based network for spatio-temporal modeling of the ad hoc array signals. In addition, two methods are proposed to mitigate a speech duplication problem during single talker segments, which seems more severe in the ad hoc array scenarios. One method is device distortion simulation for reducing the acoustic mismatch between simulated training data and real recordings. The other is speaker counting to detect the single speaker segments and merge the output signal channels. Experimental results for AdHoc-LibiCSS, a new dataset consisting of continuous recordings of concatenated LibriSpeech utterances obtained by multiple different devices, show the proposed separation method can significantly improve the ASR accuracy for overlapped speech with little performance degradation for single talker segments.
Dynamic Fusion Module Evolves Drivable Area and Road Anomaly Detection: A Benchmark and Algorithms
Venue: arXiv cs.CV 2021
Year: 2021

Joint detection of drivable areas and road anomalies is very important for mobile robots. Recently, many semantic segmentation approaches based on convolutional neural networks (CNNs) have been proposed for pixel-wise drivable area and road anomaly detection. In addition, some benchmark datasets, such as KITTI and Cityscapes, have been widely used. However, the existing benchmarks are mostly designed for self-driving cars. There lacks a benchmark for ground mobile robots, such as robotic wheelchairs. Therefore, in this paper, we first build a drivable area and road anomaly detection benchmark for ground mobile robots, evaluating the existing state-of-the-art single-modal and data-fusion semantic segmentation CNNs using six modalities of visual features. Furthermore, we propose a novel module, referred to as the dynamic fusion module (DFM), which can be easily deployed in existing data-fusion networks to fuse different types of visual features effectively and efficiently. The experimental results show that the transformed disparity image is the most informative visual feature and the proposed DFM-RTFNet outperforms the state-of-the-arts. Additionally, our DFM-RTFNet achieves competitive performance on the KITTI road benchmark. Our benchmark is publicly available at https://sites.google.com/view/gmrb.
Reversible Data Hiding Associated with Digital Halftoning That Allows Printing with Special Color Ink by Using Single Color Layer
Venue: arXiv cs.MM 2021
Year: 2021

We propose an efficient framework of reversible data hiding to preserve compatibility between normal printing and printing with a special color ink by using a single common image. The special color layer is converted to a binary image by digital halftoning and losslessly compressed using JBIG2. Then, the compressed information of the binarized special color layer is reversibly embedded into the general color layer without significant distortion. Our experimental results show the availability of the proposed method in terms of the marked image quality.
Vanishing Twin GAN: How training a weak Generative Adversarial Network can improve semi-supervised image classification
Venue: arXiv cs.CV 2021
Year: 2021

Generative Adversarial Networks can learn the mapping of random noise to realistic images in a semi-supervised framework. This mapping ability can be used for semi-supervised image classification to detect images of an unknown class where there is no training data to be used for supervised classification. However, if the unknown class shares similar characteristics to the known class(es), GANs can learn to generalize and generate images that look like both classes. This generalization ability can hinder the classification performance. In this work, we propose the Vanishing Twin GAN. By training a weak GAN and using its generated output image parallel to the regular GAN, the Vanishing Twin training improves semi-supervised image classification where image similarity can hurt classification tasks.
A Bounded Measure for Estimating the Benefit of Visualization: Theoretical Discourse and Conceptual Evaluation
Venue: arXiv cs.IT 2021
Year: 2021

Information theory can be used to analyze the cost-benefit of visualization processes. However, the current measure of benefit contains an unbounded term that is neither easy to estimate nor intuitive to interpret. In this work, we propose to revise the existing cost-benefit measure by replacing the unbounded term with a bounded one. We examine a number of bounded measures that include the Jenson-Shannon divergence and a new divergence measure formulated as part of this work. We describe the rationale for proposing a new divergence measure. As the first part of comparative evaluation, we use visual analysis to support the multi-criteria comparison, narrowing the search down to several options with better mathematical properties. The theoretical discourse and conceptual evaluation in this paper provide the basis for further comparative evaluation through synthetic and experimental case studies, which are to be reported in a separate paper.
Recurrent Graph Neural Network Algorithm for Unsupervised Network Community Detection
Venue: arXiv cs.SI 2021
Year: 2021

Network community detection often relies on optimizing partition quality functions, like modularity. This optimization appears to be a complex problem traditionally relying on discrete heuristics. And although the problem could be reformulated as continuous optimization, direct application of the standard optimization methods has limited efficiency in overcoming the numerous local extrema. However, the rise of deep learning and its applications to graphs offers new opportunities. And while graph neural networks have been used for supervised and unsupervised learning on networks, their application to modularity optimization has not been explored yet. This paper proposes a new variant of the recurrent graph neural network algorithm for unsupervised network community detection through modularity optimization. The new algorithm's performance is compared against a popular and fast Louvain method and a more efficient but slower Combo algorithm recently proposed by the author. The approach also serves as a proof-of-concept for the broader application of recurrent graph neural networks to unsupervised network optimization.
Personal Productivity and Well-being -- Chapter 2 of the 2021 New Future of Work Report
Venue: arXiv cs.CY 2021
Year: 2021

We now turn to understanding the impact that COVID-19 had on the personal productivity and well-being of information workers as their work practices were impacted by remote work. This chapter overviews people's productivity, satisfaction, and work patterns, and shows that the challenges and benefits of remote work are closely linked. Looking forward, the infrastructure surrounding work will need to evolve to help people adapt to the challenges of remote and hybrid work.
Scalable Learning With a Structural Recurrent Neural Network for Short-Term Traffic Prediction
Venue: arXiv cs.LG 2021
Year: 2021

This paper presents a scalable deep learning approach for short-term traffic prediction based on historical traffic data in a vehicular road network. Capturing the spatio-temporal relationship of the big data often requires a significant amount of computational burden or an ad-hoc design aiming for a specific type of road network. To tackle the problem, we combine a road network graph with recurrent neural networks (RNNs) to construct a structural RNN (SRNN). The SRNN employs a spatio-temporal graph to infer the interaction between adjacent road segments as well as the temporal dynamics of the time series data. The model is scalable thanks to two key aspects. First, the proposed SRNN architecture is built by using the semantic similarity of the spatio-temporal dynamic interactions of all segments. Second, we design the architecture to deal with fixed-length tensors regardless of the graph topology. With the real traffic speed data measured in the city of Santander, we demonstrate the proposed SRNN outperforms the image-based approaches using the capsule network (CapsNet) by 14.1% and the convolutional neural network (CNN) by 5.87%, respectively, in terms of root mean squared error (RMSE). Moreover, we show that the proposed model is scalable. The SRNN model trained with data of a road network is able to predict traffic speed of different road networks, with the fixed number of parameters to train.
Blockchain in Cyberdefence: A Technology Review from a Swiss Perspective
Venue: arXiv cs.CR 2021
Year: 2021

Since the advent of bitcoin in 2008, the concept of a blockchain has widely spread. Besides crypto currencies and trading activities, there is a wide range of potential application areas where blockchains are providing the main building block for secure solutions. From a technical point of view, a blockchain involves a set of cryptographic primitives to provide a data structure with security and trust properties. However, a blockchain is not a golden bullet. It may be well suited for some problems, but often an inappropriate data structure for many applications. In this paper, we review the high-level concept of a blockchain and present possible applications in the military field. Our review is targeted to readers with little prior domain knowledge as a support to decide where it makes sense to use a blockchain and where a blockchain might not be the right tool at hand.
Combinatorial Bandits without Total Order for Arms
Venue: arXiv cs.LG 2021
Year: 2021

We consider the combinatorial bandits problem, where at each time step, the online learner selects a size-$k$ subset $s$ from the arms set $\mathcal{A}$, where $\left|\mathcal{A}\right| = n$, and observes a stochastic reward of each arm in the selected set $s$. The goal of the online learner is to minimize the regret, induced by not selecting $s^*$ which maximizes the expected total reward. Specifically, we focus on a challenging setting where 1) the reward distribution of an arm depends on the set $s$ it is part of, and crucially 2) there is \textit{no total order} for the arms in $\mathcal{A}$. In this paper, we formally present a reward model that captures set-dependent reward distribution and assumes no total order for arms. Correspondingly, we propose an Upper Confidence Bound (UCB) algorithm that maintains UCB for each individual arm and selects the arms with top-$k$ UCB. We develop a novel regret analysis and show an $O\left(\frac{k^2 n \log T}ε\right)$ gap-dependent regret bound as well as an $O\left(k^2\sqrt{n T \log T}\right)$ gap-independent regret bound. We also provide a lower bound for the proposed reward model, which shows our proposed algorithm is near-optimal for any constant $k$. Empirical results on various reward models demonstrate the broad applicability of our algorithm.
A toolbox for neuromorphic sensing in robotics
Venue: arXiv cs.RO 2021
Year: 2021

The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. The promises of high flexibility, energy efficiency, and robustness of neuromorphic systems is widely supported by software tools for simulating spiking neural networks, and hardware integration (neuromorphic processors). Yet, while efforts have been made on neuromorphic vision (event-based cameras), it is worth noting that most of the sensors available for robotics remain inherently incompatible with neuromorphic computing, where information is encoded into spikes. To facilitate the use of traditional sensors, we need to convert the output signals into streams of spikes, i.e., a series of events (+1, -1) along with their corresponding timestamps. In this paper, we propose a review of the coding algorithms from a robotics perspective and further supported by a benchmark to assess their performance. We also introduce a ROS (Robot Operating System) toolbox to encode and decode input signals coming from any type of sensor available on a robot. This initiative is meant to stimulate and facilitate robotic integration of neuromorphic AI, with the opportunity to adapt traditional off-the-shelf sensors to spiking neural nets within one of the most powerful robotic tools, ROS.
Toward Native Artificial Intelligence in 6G Networks: System Design, Architectures, and Paradigms
Venue: arXiv cs.NI 2021
Year: 2021

The mobile communication system has transformed to be the fundamental infrastructure to support digital demands from all industry sectors, and 6G is envisioned to go far beyond the communication-only purpose. There is coming to a consensus that 6G will treat Artificial Intelligence (AI) as the cornerstone and has a potential capability to provide "intelligence inclusion", which implies to enable the access of AI services at anytime and anywhere by anyone. Apparently, the intelligent inclusion vision produces far-reaching influence on the corresponding network architecture design in 6G and deserves a clean-slate rethink. In this article, we propose an end-to-end system architecture design scope for 6G, and talk about the necessity to incorporate an independent data plane and a novel intelligent plane with particular emphasis on end-to-end AI workflow orchestration, management and operation. We also highlight the advantages to provision converged connectivity and computing services at the network function plane. Benefiting from these approaches, we believe that 6G will turn to an "everything as a service" (XaaS) platform with significantly enhanced business merits.